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<a href="#pub-types">Public 类型</a> &#124;
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<div class="title">pcl::IFSReader类 参考</div>  </div>
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<p>Indexed Face set (IFS) file format reader. This file format is used for the Brown <a class="el" href="class_mesh.html">Mesh</a> Set for instance.  
 <a href="classpcl_1_1_i_f_s_reader.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="ifs__io_8h_source.html">ifs_io.h</a>&gt;</code></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a42bf5cb6f4c98a8a44c5bf19135683c9"><td class="memItemLeft" align="right" valign="top"><a id="a42bf5cb6f4c98a8a44c5bf19135683c9"></a>enum &#160;</td><td class="memItemRight" valign="bottom">{ <b>IFS_V1_0</b> = 0
, <b>IFS_V1_1</b> = 1
 }</td></tr>
<tr class="memdesc:a42bf5cb6f4c98a8a44c5bf19135683c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">we support two versions 1.0 classic 1.1 with texture coordinates addon <br /></td></tr>
<tr class="separator:a42bf5cb6f4c98a8a44c5bf19135683c9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Public 成员函数</h2></td></tr>
<tr class="memitem:ae36146cd70de8de1fa608f62b84407ab"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_f_s_reader.html#ae36146cd70de8de1fa608f62b84407ab">IFSReader</a> ()</td></tr>
<tr class="separator:ae36146cd70de8de1fa608f62b84407ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac7d2e9485c69123c824d67544cbe459b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_f_s_reader.html#ac7d2e9485c69123c824d67544cbe459b">~IFSReader</a> ()</td></tr>
<tr class="separator:ac7d2e9485c69123c824d67544cbe459b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a68e63978b51365e7130c11ac74be53de"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_f_s_reader.html#a68e63978b51365e7130c11ac74be53de">readHeader</a> (const std::string &amp;file_name, <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, int &amp;ifs_version, unsigned int &amp;data_idx)</td></tr>
<tr class="memdesc:a68e63978b51365e7130c11ac74be53de"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data header from an IFS file.  <a href="classpcl_1_1_i_f_s_reader.html#a68e63978b51365e7130c11ac74be53de">更多...</a><br /></td></tr>
<tr class="separator:a68e63978b51365e7130c11ac74be53de"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad949b0f5db6a8f892ab040491d5bfd11"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_f_s_reader.html#ad949b0f5db6a8f892ab040491d5bfd11">read</a> (const std::string &amp;file_name, <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, int &amp;ifs_version)</td></tr>
<tr class="memdesc:ad949b0f5db6a8f892ab040491d5bfd11"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data from an IFS file and store it into a pcl/PCLPointCloud2.  <a href="classpcl_1_1_i_f_s_reader.html#ad949b0f5db6a8f892ab040491d5bfd11">更多...</a><br /></td></tr>
<tr class="separator:ad949b0f5db6a8f892ab040491d5bfd11"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad06dea75a21ebf304e3b2ac93a06ea15"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_f_s_reader.html#ad06dea75a21ebf304e3b2ac93a06ea15">read</a> (const std::string &amp;file_name, <a class="el" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;mesh, int &amp;ifs_version)</td></tr>
<tr class="memdesc:ad06dea75a21ebf304e3b2ac93a06ea15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data from an IFS file and store it into a <a class="el" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a>.  <a href="classpcl_1_1_i_f_s_reader.html#ad06dea75a21ebf304e3b2ac93a06ea15">更多...</a><br /></td></tr>
<tr class="separator:ad06dea75a21ebf304e3b2ac93a06ea15"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e14932dff214fd6341f4910cf158983"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a8e14932dff214fd6341f4910cf158983"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_i_f_s_reader.html#a8e14932dff214fd6341f4910cf158983">read</a> (const std::string &amp;file_name, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud)</td></tr>
<tr class="memdesc:a8e14932dff214fd6341f4910cf158983"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data from an IFS file, and convert it to the given template <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">pcl::PointCloud</a> format.  <a href="classpcl_1_1_i_f_s_reader.html#a8e14932dff214fd6341f4910cf158983">更多...</a><br /></td></tr>
<tr class="separator:a8e14932dff214fd6341f4910cf158983"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Indexed Face set (IFS) file format reader. This file format is used for the Brown <a class="el" href="class_mesh.html">Mesh</a> Set for instance. </p>
<dl class="section author"><dt>作者</dt><dd>Nizar Sallem </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="ae36146cd70de8de1fa608f62b84407ab"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae36146cd70de8de1fa608f62b84407ab">&#9670;&nbsp;</a></span>IFSReader()</h2>

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          <td class="memname">pcl::IFSReader::IFSReader </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
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<p>Empty constructor </p>
<div class="fragment"><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;{}</div>
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<a id="ac7d2e9485c69123c824d67544cbe459b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac7d2e9485c69123c824d67544cbe459b">&#9670;&nbsp;</a></span>~IFSReader()</h2>

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          <td class="memname">pcl::IFSReader::~IFSReader </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Empty destructor </p>
<div class="fragment"><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{}</div>
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<h2 class="groupheader">成员函数说明</h2>
<a id="ad949b0f5db6a8f892ab040491d5bfd11"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad949b0f5db6a8f892ab040491d5bfd11">&#9670;&nbsp;</a></span>read() <span class="overload">[1/3]</span></h2>

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          <td class="memname">int pcl::IFSReader::read </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
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          <td class="paramkey"></td>
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          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>ifs_version</em>&#160;</td>
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          <td>)</td>
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<p>Read a point cloud data from an IFS file and store it into a pcl/PCLPointCloud2. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the file containing the actual <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">PCLPointCloud2</a> blob read from disk </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">ifs_version</td><td>the IFS version of the file (either IFS_V1_0 or IFS_V1_1)</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd><ul>
<li>&lt; 0 (-1) on error</li>
<li>== 0 on success </li>
</ul>
</dd></dl>

</div>
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<a id="a8e14932dff214fd6341f4910cf158983"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8e14932dff214fd6341f4910cf158983">&#9670;&nbsp;</a></span>read() <span class="overload">[2/3]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">int pcl::IFSReader::read </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Read a point cloud data from an IFS file, and convert it to the given template <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">pcl::PointCloud</a> format. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the file containing the actual <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message read from disk</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd><ul>
<li>&lt; 0 (-1) on error</li>
<li>== 0 on success </li>
</ul>
</dd></dl>
<div class="fragment"><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      {</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordtype">int</span> ifs_version;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        cloud.<a class="code" href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">sensor_origin_</a> = Eigen::Vector4f::Zero ();</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">sensor_orientation_</a> = Eigen::Quaternionf::Identity ();</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="keywordtype">int</span> res = <a class="code" href="classpcl_1_1_i_f_s_reader.html#ad949b0f5db6a8f892ab040491d5bfd11">read</a> (file_name, blob, ifs_version);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="comment">// If no error, convert the data</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keywordflow">if</span> (res == 0)</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          pcl::fromPCLPointCloud2 (blob, cloud);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keywordflow">return</span> (res);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_i_f_s_reader_html_ad949b0f5db6a8f892ab040491d5bfd11"><div class="ttname"><a href="classpcl_1_1_i_f_s_reader.html#ad949b0f5db6a8f892ab040491d5bfd11">pcl::IFSReader::read</a></div><div class="ttdeci">int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, int &amp;ifs_version)</div><div class="ttdoc">Read a point cloud data from an IFS file and store it into a pcl/PCLPointCloud2.</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a5de17e88bdf15e1c4fd1bcc6b85b1941"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a5de17e88bdf15e1c4fd1bcc6b85b1941">pcl::PointCloud::sensor_orientation_</a></div><div class="ttdeci">Eigen::Quaternionf sensor_orientation_</div><div class="ttdoc">Sensor acquisition pose (rotation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:423</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_aad7c2cd4b0d1c7f0fbc096276b5e2230"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#aad7c2cd4b0d1c7f0fbc096276b5e2230">pcl::PointCloud::sensor_origin_</a></div><div class="ttdeci">Eigen::Vector4f sensor_origin_</div><div class="ttdoc">Sensor acquisition pose (origin/translation).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:421</div></div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad06dea75a21ebf304e3b2ac93a06ea15">&#9670;&nbsp;</a></span>read() <span class="overload">[3/3]</span></h2>

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          <td class="memname">int pcl::IFSReader::read </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;&#160;</td>
          <td class="paramname"><em>mesh</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>ifs_version</em>&#160;</td>
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          <td></td>
          <td>)</td>
          <td></td><td></td>
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<p>Read a point cloud data from an IFS file and store it into a <a class="el" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a>. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the file containing the mesh data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">mesh</td><td>the resultant <a class="el" href="structpcl_1_1_polygon_mesh.html">PolygonMesh</a> </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">ifs_version</td><td>the IFS version of the file (either IFS_V1_0 or IFS_V1_1)</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd><ul>
<li>&lt; 0 (-1) on error</li>
<li>== 0 on success </li>
</ul>
</dd></dl>

</div>
</div>
<a id="a68e63978b51365e7130c11ac74be53de"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a68e63978b51365e7130c11ac74be53de">&#9670;&nbsp;</a></span>readHeader()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">int pcl::IFSReader::readHeader </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">int &amp;&#160;</td>
          <td class="paramname"><em>ifs_version</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int &amp;&#160;</td>
          <td class="paramname"><em>data_idx</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Read a point cloud data header from an IFS file. </p>
<p>Load only the meta information (number of points, their types, etc), and not the points themselves, from a given IFS file. Useful for fast evaluation of the underlying data structure.</p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the file to load </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant point cloud dataset (only header will be filled) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">ifs_version</td><td>the IFS version of the file (IFS_V1_0 or IFS_V1_1) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">data_idx</td><td>the offset of cloud data within the file</td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd><ul>
<li>&lt; 0 (-1) on error</li>
<li>== 0 on success </li>
</ul>
</dd></dl>

</div>
</div>
<hr/>该类的文档由以下文件生成:<ul>
<li>io/include/pcl/io/<a class="el" href="ifs__io_8h_source.html">ifs_io.h</a></li>
</ul>
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